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CollisionUtil: Make use of std::array where applicable 

Same behavior, stronger typing. Also allows dehardcoding some array
sizes.
This commit is contained in:
Lioncash 2020-04-06 01:41:13 -04:00
parent 80c6424fd0
commit 39f5fddd63
1 changed files with 58 additions and 37 deletions
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95
Runtime/Collision/CollisionUtil.cpp
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@ -1,6 +1,7 @@
#include "Runtime/Collision/CollisionUtil.hpp" #include "Runtime/Collision/CollisionUtil.hpp"
#include <algorithm> #include <algorithm>
#include <array>
#include <tuple> #include <tuple>
#include "Runtime/Collision/CCollisionInfo.hpp" #include "Runtime/Collision/CCollisionInfo.hpp"
@ -18,27 +19,32 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb, float
tMin = -999999.f; tMin = -999999.f;
tMax = 999999.f; tMax = 999999.f;
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < 3; ++i) {
if (std::fabs(ray.dir[i]) < 0.00001f) { if (std::fabs(ray.dir[i]) < 0.00001f) {
if (ray.start[i] < aabb.min[i] || ray.start[i] > aabb.max[i]) if (ray.start[i] < aabb.min[i] || ray.start[i] > aabb.max[i]) {
return 0; return 0;
}
} else { } else {
if (ray.dir[i] < 0.f) { if (ray.dir[i] < 0.f) {
float startToMax = aabb.max[i] - ray.start[i]; const float startToMax = aabb.max[i] - ray.start[i];
float startToMin = aabb.min[i] - ray.start[i]; const float startToMin = aabb.min[i] - ray.start[i];
float dirRecip = 1.f / ray.dir[i]; const float dirRecip = 1.f / ray.dir[i];
if (startToMax < tMin * ray.dir[i]) if (startToMax < tMin * ray.dir[i]) {
tMin = startToMax * dirRecip; tMin = startToMax * dirRecip;
if (startToMin > tMax * ray.dir[i]) }
if (startToMin > tMax * ray.dir[i]) {
tMax = startToMin * dirRecip; tMax = startToMin * dirRecip;
}
} else { } else {
float startToMin = aabb.min[i] - ray.start[i]; const float startToMin = aabb.min[i] - ray.start[i];
float startToMax = aabb.max[i] - ray.start[i]; const float startToMax = aabb.max[i] - ray.start[i];
float dirRecip = 1.f / ray.dir[i]; const float dirRecip = 1.f / ray.dir[i];
if (startToMin > tMin * ray.dir[i]) if (startToMin > tMin * ray.dir[i]) {
tMin = startToMin * dirRecip; tMin = startToMin * dirRecip;
if (startToMax < tMax * ray.dir[i]) }
if (startToMax < tMax * ray.dir[i]) {
tMax = startToMax * dirRecip; tMax = startToMax * dirRecip;
}
} }
} }
} }
@ -47,7 +53,7 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb, float
} }
u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb, zeus::CVector3f& norm, float& d) { u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb, zeus::CVector3f& norm, float& d) {
int sign[] = {2, 2, 2}; std::array<int, 3> sign{2, 2, 2};
bool bad = true; bool bad = true;
zeus::CVector3f rayStart = ray.start; zeus::CVector3f rayStart = ray.start;
zeus::CVector3f rayDelta = ray.delta; zeus::CVector3f rayDelta = ray.delta;
@ -58,7 +64,7 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb, zeus:
zeus::CVector3f vec1; zeus::CVector3f vec1;
if (rayDelta.x() != 0.f && rayDelta.y() != 0.f && rayDelta.z() != 0.f) { if (rayDelta.x() != 0.f && rayDelta.y() != 0.f && rayDelta.z() != 0.f) {
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < sign.size(); ++i) {
if (rayStart[i] < aabbMin[i]) { if (rayStart[i] < aabbMin[i]) {
sign[i] = 1; sign[i] = 1;
bad = false; bad = false;
@ -76,7 +82,7 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb, zeus:
} }
} else { } else {
zeus::CVector3f end; zeus::CVector3f end;
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < sign.size(); ++i) {
if (rayStart[i] < aabbMin[i]) { if (rayStart[i] < aabbMin[i]) {
sign[i] = 1; sign[i] = 1;
bad = false; bad = false;
@ -93,13 +99,15 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb, zeus:
return 1; return 1;
} }
for (int i = 0; i < 3; ++i) for (size_t i = 0; i < sign.size(); ++i) {
if (sign[i] != 2 && rayDelta[i] != 0.f) if (sign[i] != 2 && rayDelta[i] != 0.f) {
vec0[i] = (end[i] - rayStart[i]) / rayDelta[i]; vec0[i] = (end[i] - rayStart[i]) / rayDelta[i];
}
}
} }
float maxComp = vec0.x(); float maxComp = vec0.x();
int maxCompIdx = 0; size_t maxCompIdx = 0;
if (maxComp < vec0.y()) { if (maxComp < vec0.y()) {
maxComp = vec0.y(); maxComp = vec0.y();
maxCompIdx = 1; maxCompIdx = 1;
@ -112,11 +120,12 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb, zeus:
if (maxComp < 0.f || maxComp > 1.f) if (maxComp < 0.f || maxComp > 1.f)
return 0; return 0;
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < 3; ++i) {
if (maxCompIdx != i) { if (maxCompIdx != i) {
vec1[i] = maxComp * rayDelta[i] + rayStart[i]; vec1[i] = maxComp * rayDelta[i] + rayStart[i];
if (vec1[i] > aabbMax[i]) if (vec1[i] > aabbMax[i]) {
return 0; return 0;
}
} }
} }
@ -127,7 +136,7 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb, zeus:
} }
u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb, zeus::CVector3f& norm, double& d) { u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb, zeus::CVector3f& norm, double& d) {
int sign[] = {2, 2, 2}; std::array<int, 3> sign{2, 2, 2};
bool bad = true; bool bad = true;
zeus::CVector3d rayStart = ray.start; zeus::CVector3d rayStart = ray.start;
zeus::CVector3d rayDelta = ray.delta; zeus::CVector3d rayDelta = ray.delta;
@ -138,7 +147,7 @@ u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb
zeus::CVector3d vec1; zeus::CVector3d vec1;
if (rayDelta.x() != 0.0 && rayDelta.y() != 0.0 && rayDelta.z() != 0.0) { if (rayDelta.x() != 0.0 && rayDelta.y() != 0.0 && rayDelta.z() != 0.0) {
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < sign.size(); ++i) {
if (rayStart[i] < aabbMin[i]) { if (rayStart[i] < aabbMin[i]) {
sign[i] = 1; sign[i] = 1;
bad = false; bad = false;
@ -156,7 +165,7 @@ u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb
} }
} else { } else {
zeus::CVector3d end; zeus::CVector3d end;
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < sign.size(); ++i) {
if (rayStart[i] < aabbMin[i]) { if (rayStart[i] < aabbMin[i]) {
sign[i] = 1; sign[i] = 1;
bad = false; bad = false;
@ -173,13 +182,15 @@ u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb
return 1; return 1;
} }
for (int i = 0; i < 3; ++i) for (size_t i = 0; i < sign.size(); ++i) {
if (sign[i] != 2 && rayDelta[i] != 0.0) if (sign[i] != 2 && rayDelta[i] != 0.0) {
vec0[i] = (end[i] - rayStart[i]) / rayDelta[i]; vec0[i] = (end[i] - rayStart[i]) / rayDelta[i];
}
}
} }
double maxComp = vec0.x(); double maxComp = vec0.x();
int maxCompIdx = 0; size_t maxCompIdx = 0;
if (maxComp < vec0.y()) { if (maxComp < vec0.y()) {
maxComp = vec0.y(); maxComp = vec0.y();
maxCompIdx = 1; maxCompIdx = 1;
@ -192,11 +203,12 @@ u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb
if (maxComp < 0.0 || maxComp > 1.0) if (maxComp < 0.0 || maxComp > 1.0)
return 0; return 0;
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < 3; ++i) {
if (maxCompIdx != i) { if (maxCompIdx != i) {
vec1[i] = maxComp * rayDelta[i] + rayStart[i]; vec1[i] = maxComp * rayDelta[i] + rayStart[i];
if (vec1[i] > aabbMax[i]) if (vec1[i] > aabbMax[i]) {
return 0; return 0;
}
} }
} }
@ -317,8 +329,14 @@ void FilterByClosestNormal(const zeus::CVector3f& norm, const CCollisionInfoList
out.Add(in.GetItem(idx), false); out.Add(in.GetItem(idx), false);
} }
static const zeus::CVector3f AABBNormalTable[] = {{-1.f, 0.f, 0.f}, {1.f, 0.f, 0.f}, {0.f, -1.f, 0.f}, constexpr std::array<zeus::CVector3f, 6> AABBNormalTable{{
{0.f, 1.f, 0.f}, {0.f, 0.f, -1.f}, {0.f, 0.f, 1.f}}; {-1.f, 0.f, 0.f},
{1.f, 0.f, 0.f},
{0.f, -1.f, 0.f},
{0.f, 1.f, 0.f},
{0.f, 0.f, -1.f},
{0.f, 0.f, 1.f},
}};
bool AABoxAABoxIntersection(const zeus::CAABox& aabb0, const CMaterialList& list0, const zeus::CAABox& aabb1, bool AABoxAABoxIntersection(const zeus::CAABox& aabb0, const CMaterialList& list0, const zeus::CAABox& aabb1,
const CMaterialList& list1, CCollisionInfoList& infoList) { const CMaterialList& list1, CCollisionInfoList& infoList) {
@ -332,7 +350,7 @@ bool AABoxAABoxIntersection(const zeus::CAABox& aabb0, const CMaterialList& list
zeus::CAABox boolAABB(maxOfMin, minOfMax); zeus::CAABox boolAABB(maxOfMin, minOfMax);
int ineqFlags[] = { const std::array<int, 3> ineqFlags{
(aabb0.min.x() <= aabb1.min.x() ? 1 << 0 : 0) | (aabb0.min.x() <= aabb1.max.x() ? 1 << 1 : 0) | (aabb0.min.x() <= aabb1.min.x() ? 1 << 0 : 0) | (aabb0.min.x() <= aabb1.max.x() ? 1 << 1 : 0) |
(aabb0.max.x() <= aabb1.min.x() ? 1 << 2 : 0) | (aabb0.max.x() <= aabb1.max.x() ? 1 << 3 : 0), (aabb0.max.x() <= aabb1.min.x() ? 1 << 2 : 0) | (aabb0.max.x() <= aabb1.max.x() ? 1 << 3 : 0),
(aabb0.min.y() <= aabb1.min.y() ? 1 << 0 : 0) | (aabb0.min.y() <= aabb1.max.y() ? 1 << 1 : 0) | (aabb0.min.y() <= aabb1.min.y() ? 1 << 0 : 0) | (aabb0.min.y() <= aabb1.max.y() ? 1 << 1 : 0) |
@ -341,7 +359,7 @@ bool AABoxAABoxIntersection(const zeus::CAABox& aabb0, const CMaterialList& list
(aabb0.max.z() <= aabb1.min.z() ? 1 << 2 : 0) | (aabb0.max.z() <= aabb1.max.z() ? 1 << 3 : 0), (aabb0.max.z() <= aabb1.min.z() ? 1 << 2 : 0) | (aabb0.max.z() <= aabb1.max.z() ? 1 << 3 : 0),
}; };
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < ineqFlags.size(); ++i) {
switch (ineqFlags[i]) { switch (ineqFlags[i]) {
case 0x2: // aabb0.min <= aabb1.max case 0x2: // aabb0.min <= aabb1.max
{ {
@ -771,10 +789,12 @@ bool BoxLineTest(const zeus::CAABox& aabb, const zeus::CVector3f& point, const z
tMin = -999999.f; tMin = -999999.f;
tMax = 999999.f; tMax = 999999.f;
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < 3; ++i) {
if (dir[i] == 0.f) if (dir[i] == 0.f) {
if (point[i] < aabb.min[i] || point[i] > aabb.max[i]) if (point[i] < aabb.min[i] || point[i] > aabb.max[i]) {
return false; return false;
}
}
float dirRecip = 1.f / dir[i]; float dirRecip = 1.f / dir[i];
float tmpMin, tmpMax; float tmpMin, tmpMax;
@ -1013,7 +1033,7 @@ bool AABox_AABox_Moving(const zeus::CAABox& aabb0, const zeus::CAABox& aabb1, co
zeus::CVector3d vecMin(-FLT_MAX); zeus::CVector3d vecMin(-FLT_MAX);
zeus::CVector3d vecMax(FLT_MAX); zeus::CVector3d vecMax(FLT_MAX);
for (int i = 0; i < 3; ++i) { for (size_t i = 0; i < 3; ++i) {
if (std::fabs(dir[i]) < FLT_EPSILON) { if (std::fabs(dir[i]) < FLT_EPSILON) {
if (aabb0.min[i] >= aabb1.min[i] && aabb0.min[i] <= aabb1.max[i]) if (aabb0.min[i] >= aabb1.min[i] && aabb0.min[i] <= aabb1.max[i])
continue; continue;
@ -1057,8 +1077,9 @@ bool AABox_AABox_Moving(const zeus::CAABox& aabb0, const zeus::CAABox& aabb1, co
normal = zeus::skZero3f; normal = zeus::skZero3f;
normal[maxAxis] = dir[maxAxis] > 0.f ? -1.f : 1.f; normal[maxAxis] = dir[maxAxis] > 0.f ? -1.f : 1.f;
for (int i = 0; i < 3; ++i) for (size_t i = 0; i < 3; ++i) {
point[i] = dir[i] > 0.f ? aabb0.max[i] : aabb0.min[i]; point[i] = dir[i] > 0.f ? aabb0.max[i] : aabb0.min[i];
}
point += float(d) * dir; point += float(d) * dir;
return true; return true;